Method of controlling an electromechanical drive mechanism

ABSTRACT

There is provided a method of controlling a pedal cycle and a pedal cycle incorporating the same. The pedal cycle has an electro-mechanical drive arrangement including a continuously variable ratio transmission system having an input which is mounted to rotate about the axis and an output connected to rotate with a hub member, the transmission system comprising an epicyclic gear set including a sun gear in mesh with a plurality of planet gears mounted to rotate about respective planet shafts carried by a common carrier, which is mounted to rotate with the input about the axis, the planet gears being in mesh with an annulus gear, which is connected to rotate with the hub member. Only the sun gear may be connected to rotate a rotor of an electrical machine or an additional machine may be provided. The electrical connections of the stator of the electrical machine are connected to a controller; the method may include the step of applying a time division multiplexed control algorithm to the electrical machine, wherein the time division multiplexed control algorithm alternates between a first control mode in which current generated by the electrical machine is monitored to infer torque applied to the crank arms of the cycle and a second control mode in which the current in the input electrical machine is controlled using the inferred torque.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of U.S. patent applicationSer. No. 15/575,285 entitled “A Method of Operating a Pedal Cycle Havingan Electro-Mechanical Drive Arrangement” which was filed on Nov. 17,2017, which is a 371 of PCT/GB2016/052355, filed Jul. 29, 2016, whichclaims the benefit of GB 1607341.3, filed Apr. 27, 2016, and GB1513575.9, filed Jul. 31, 2015. The disclosures of those applicationsare incorporated into this application by reference.

FIELD

This disclosure relates to a method of operating a pedal cycle having anelectro-mechanical drive arrangement.

BACKGROUND

There are various forms of pedal cycle. One, conventional, form of pedalcycle is that which is only ever driven by a cyclist applying force tothe pedals thereof, such cycles sometimes being referred to as “pushbikes”. Another, more recent, form of pedal cycle is theelectrically-assisted pedal cycle (EAPC) in which electrical power isused to assist or replace the efforts of the rider. Both conventionalpedal cycles and EAPCs may have two, three or four wheels, and, in some,cases even more. In the present document, the term “pedal cycle” is usedto include both conventional pedal cycles and EAPCs.

As mentioned, in an EAPC, electrical power is used to assist, or in somecases replace, the efforts of the rider. Accordingly, EAPCs includemeans for storing electrical energy, such as batteries, and an electricmotor arranged to propel, either in combination with pedal input, or toreplace pedal input. The batteries can usually be recharged by pluggingthem into a supply of electrical energy, such as an outlet from a mainssupply; in some cases, also by recovering energy from motion of thecycle by way of regenerative braking, and in others by generation ofelectricity in a series hybrid configuration. The principle ofregenerative braking will be familiar to those skilled in this field oftechnology.

As a result, the overall effort usually required by a cyclist to pedalan EAPC is lower than for a conventional cycle.

EAPCs can usually be placed into one of two groups. The first group isthat in which the cycle can provide electrical assistance on demand, atany time, regardless of whether or not the cyclist is pedaling. Cyclesin this group are sometimes referred to as “e-bikes”, and can be thoughtof as being generally equivalent to electric mopeds, although one thatis generally easier to pedal. Cycles in the second group only provideelectrical assistance when the cyclist is pedaling. These are sometimesreferred to as “pedelecs”.

Currently, in most European countries, including the UK, pedelecs atleast are effectively legally classified as conventional bicycles and somay be ridden without a driving licence or insurance, providing electricassistance ceases at a speed of 25 kph. There are therefore few barriersto owning and operating an EAPC.

In recent years, technical advances have been made to theelectro-mechanical drive arrangements and to the associated energystorage and recovery devices used in EAPCs. These advances have resultedin EAPCs that can be operated with greater efficiency, and hence greaterease, by the cyclist.

For all the reasons given above EAPCs are becoming increasing popular,particularly in some European countries.

Since pedelecs only provide assistance when the rider is pedaling, thereis a requirement to make an assessment of whether this is the case. Manypedelecs achieve this through either a torque sensor, or a movementsensor, such as a cadence sensor. A movement sensor recognises when thepedals of the pedelec are rotated and switches the motor on in response.By incorporating a minimum force level, a torque sensor installation canavoid accidental initiation of the motor due to unintended slightmovement of the pedals when the bike is stationary. In thoseinstallations with only a basic movement sensor there has to be a delaybetween the rotation of the pedals starting and the motor beinginitiated. That is to say, the motor is only initiated once movement hasbeen taking place for a predetermined period of time. As a result, thereis delay before the rider is provided with any assistance when movingoff. Not only does this fail to assist the rider at this time, but mayalso provide an uncomfortable or counter-intuitive rider experience whenthe motor eventually starts.

In some pedelecs the motor is either off or fully switched on (orperhaps subject to manual user control to define the level of assistancedesired). That is to say, there is no relationship between the rider'spedaling and the level of assistance provided once the motor hasstarted. However, in other examples an attempt is made to introduce sucha link. For example, control may be provided to cause the motor toprovide greater assistance when the rider is pedaling at greater speed.However, this link can itself be counter-intuitive since the speed orcadence of the rider's turning the pedals is not directly linked to thepower output in geared bicycles. In a lower gear, a given cadencerepresents a lower power output than it would in a higher gear. Thus,control of the power output of the motor based on the cadence of thepedals does not provide an intuitive link between the effort exerted bythe rider and the assistance provided by the motor. For example, greaterassistance can be achieved by a rider by switching to a lower gear inorder to increase cadence without exerting any greater effort.

Torque sensors can improve the link between rider actions and thesupport provided by the motor. Such sensors assess not the cadence ofthe pedals but the torque applied, and thus more clearly reflect theintentions and activities of the rider. This may be of benefit both atthe launch procedure, where accidental initiation can be avoided byrequiring a threshold torque to be applied and during general ridingwhere the feedback between the effort exerted by the rider and the inputof the motor may be improved. However, torque sensors can be difficultto implement and are significantly expensive. In addition torque sensorsoften limit the flexibility in terms of frame type available for thebicycle, often do not provide continuous assessment of torque levels andcan add to the weight of the bicycle.

In another approach, described in international patent applicationWO2010/092345 there is provided a system with an input electricalmachine and an output electrical machine, the input electrical machinebeing coupled to the pedal input and the driven cycle wheel via anepicyclic gear set and the output electrical machine being used toassist in drive of the cycle. The input electrical machine is operatedas a generator to at least partly power the output electrical machine asa motor. The current in the input electrical machine is controlled toensure the torque applied by the pedals is appropriate for a desiredinput power set by the user, taking account of measurements of the angleof the pedal crank arms and a detected cadence. In this way, thefeedback provided by the pedals is intended to offer a consistentexperience. In particular, the control of the current in the inputelectrical machine results in an effective variation of the transmissionratio between the pedals and the electrical machine should the cyclistexceed or undershoot the desired torque levels. As such, there is aneffective automatic gear change to allow the cyclist to cope withchanges in conditions.

While this approach provides some benefits in user experience, duringthe launch process (i.e. when the bicycle is started from stationary)there is no initial feedback from either electrical machine as nocurrent passes when stationary. Thus, the difficulties with providing aneffective launch process are shared with pedelecs adopting movement orcadence sensors explained above. While a torque sensor may assist withthis, such sensors suffer from the drawbacks outlined above. Moreover,implementations of the system described in WO2010/092345 have sufferedfrom difficulties in the pedal feedback; in particular, variations inthe feedback provided during the pedal cycle can feel peculiar to ridersunused to such a system.

There remains, therefore, a desire to provide an improved system andmethod for control of pedelec motors, particularly with reference to thepedal feedback and the launch procedure of such devices.

SUMMARY

According to a first aspect of the disclosure, there is provided amethod of operating a pedal cycle, the pedal cycle having anelectro-mechanical drive arrangement including a continuously variableratio transmission system having an input which is mounted to rotateabout the axis and an output connected to rotate with a hub member, thetransmission system comprising an epicyclic gear set including a sungear in mesh with a plurality of planet gears mounted to rotate aboutrespective planet shafts carried by a common carrier, which is mountedto rotate with the input about the axis, the planet gears being in meshwith an annulus gear, which is connected to rotate with the hub member,the annulus gear being connected to rotate with a rotor of an outputelectrical machine and the sun gear being connected to rotate a rotor ofan input electrical machine, the electrical connections of the statorsof the two electrical machines being connected by a controller arrangedto control the transmission of power from one electrical machine to theother; the method including the steps of:

-   a) operating the input electrical machine as a generator to at least    partly power the output electrical machine as a motor;-   b) applying a time division multiplexed control algorithm to the    input electrical machine, wherein the time division multiplexed    control algorithm alternates between a first control mode in which    current generated by the electrical input machine is monitored to    infer torque applied to the crank arms of the cycle and a second    control mode in which the current in the input electrical machine is    controlled using the inferred torque.

In a second aspect, there is provided a method of operating a pedalcycle, the pedal cycle having an electro-mechanical drive arrangementincluding a continuously variable ratio transmission system having aninput which is mounted to rotate about the axis and an output connectedto rotate with a hub member, the transmission system comprising anepicyclic gear set including a sun gear in mesh with a plurality ofplanet gears mounted to rotate about respective planet shafts carried bya common carrier, which is mounted to rotate with the input about theaxis, the planet gears being in mesh with an annulus gear, which isconnected to rotate with the hub member, only the sun gear beingconnected to rotate a rotor of an electrical machine, the electricalconnections of the stator of the electrical machine being connected to acontroller; the method including the step of:

-   applying a time division multiplexed control algorithm to the    electrical machine, wherein the time division multiplexed control    algorithm alternates between a first control mode in which current    generated by the electrical machine is monitored to infer torque    applied to the crank arms of the cycle and a second control mode in    which the current in the input electrical machine is controlled    using the inferred torque.

According to these aspects, the torque applied to the crank arms by arider of the pedal cycle can be inferred from the current generated bythe electrical machine during riding. Accordingly, there is norequirement for an independent torque sensor to be provided. Moreover,during the second control mode the current in the input electricalmachine is controlled. This effectively controls the torque on the inputelectrical machine during the second control mode (since this isproportional to current). As the input electrical machine is coupled tothe crank arms by the second epicyclic gear set, controlling the torquein the input electrical machine also controls the torque in the crankarms (the two are proportional), which is the torque that the cyclistapplies. Thus, controlling the current in the input electrical machinedetermines the torque which the cyclist has to apply to maintainconstant rotation during the second control mode.

Controlling the current in this way can enable the arrangement toautomatically “change gear” during general operation. For example,should the cyclist press on the pedals with more force such that he orshe applies torque that results in a current in the input electricalmachine that exceeds that applied during the second control mode, theelectrical machine “gives way” and so accelerates. This changes thetransmission ratio of the input epicyclic gear set to, in effect, changeinto a lower gear. Thus, when the torque that the cyclist appliesincreases, the arrangement automatically changes down into a lower gear.Thus, the arrangement automatically changes down in conditions when thisis needed, such as when climbing a hill or accelerating rapidly.

Similarly, should the cyclist press the pedals with less force and henceapply less torque than the torque that corresponds to the current of theinput electrical machine during the second control mode, the electricalmachine decelerates and resists motion of the crank arms by the cyclist.This deceleration of the input electrical machine again changes thetransmission ratio of the second epicyclic gear set to, in effect,change into a higher gear. Thus, when the torque that the cyclistapplies falls, the arrangement automatically changes up into a highergear. Thus, the arrangement automatically changes up in conditions whenthis is needed, such as when going downhill or when easing off andapproaching a steady speed from a period of acceleration.

In this way, the torque sensing capabilities of the second electricalmachine may be used in conventional pedal cycles and in EAPCs to providean arrangement for automatically changing gear while the rider iscycling the pedal cycle.

In the second aspect, no output electrical machine is provided. That isto say, there is no electrical machine coupled to the annulus in thisaspect. As such, the relative cost and weight of the cycle may bereduced in comparison. The control method of the second aspect ensuresthat although the annulus is unconstrained by a second motor, the sungear and planetary gears remain balanced.

Furthermore, for both aspects, the ability to sense the torque throughthe input electrical machine can assist in controlling a launch process.That is to say, by sensing the torque the arrangement can sense when therider intends to move off from a stationary position. In preferredembodiments of the first aspect, the method further comprises initiatingoperation of the output electrical machine as a motor when the inferredtorque exceeds a threshold value. In this way, the output electricalmachine may be initiated only when a meaningful torque is applied to thepedals by the rider, rather than responding to minor adjustments inpedal position. For example, while stationary, riders often adjust theposition of the pedals to an optimum arrangement for beginning thepedaling process (typically with one pedal higher than the other). Byadopting the preferred approach, one can avoid initiating the outputelectrical motor in response to such adjustments.

In preferred embodiments, the control of the current applied to theinput electrical machine in response to the inferred torque during thesecond control mode is dependent upon whether the pedal cycle is in alaunch routine or an in-motion routine. Both the input electricalmachine and the output electrical machine may be coupled to a singleelectrical power source (such as a battery).

During the launch routine, the output electrical machine may takepriority over the input electrical machine for receiving current fromthe electrical power source. As such, the output electrical machine maybe used to assist the rider in bringing the pedal cycle up to thedesired speed without sacrificing electrical power to control of theinput electrical machine. This will also have the effect of shifting thepedals to a relatively low gear as the torque provided by the riderexceeds that generated by input electrical machine during the secondcontrol mode. The rider is therefore able to start the pedals moving ata preferred cadence without having to work against the input electricalmachine.

In some embodiments, the method may further comprise the step ofdetermining that the bicycle and/or the crank arms are substantiallystationary and, in response thereto, substantially short-circuiting theinput electrical machine. This can include short circuiting two or allthree phases of the input electrical machine. Furthermore, in someembodiments, the method includes the step of maintaining the substantialshort-circuiting of the input electrical machine until the actualcurrent in the input electrical machine reaches a predeterminedthreshold current. This threshold may be set in software.

During an in-motion routine, the input electrical machine may takepriority over the output electrical machine for receiving current fromthe electrical power source. In this manner, a current may be applied tothe input electrical machine during the second control mode which iscalculated to match the inferred torque identified during the firstcontrol mode. Accordingly, the rider is provided with consistentfeedback from the pedals during the in-motion routine. This is found tooffer a satisfying and intuitive riding experience.

It will be appreciated by the skilled person that current control of anelectrical machine may be readily accomplished with existing electricalcomponents. Thus, embodiments of the method can be used to provideautomatic transmission-ratio control in a conventional manual-only pedalcycle and/or in an EAPC in a straightforward and inexpensive manner. Itshould also be noted that the use of an epicyclic gear set in this wayprovides continuously-variable transmission, rather than the steppedgearing usual with cycles that often changes gear unsatisfactorily underheavy loads.

The method may include operating control means to operate the inputelectrical machine as a generator and/or to operate the outputelectrical machine as a motor and/or to control the current in the inputelectrical machine. The control means may include one or more motorcontrollers and/or one or more generator controllers.

During the second control mode, and particularly during the in-motionroutine, the current in the input electrical machine may be controlledto lie in a range between a maximum current and a minimum current, themaximum and minimum currents being calculated using the inferred torque.The maximum current and the minimum current may be different values;they may be the same value. Where they are different values, thiscreates a band within which the torque applied by the cyclist may varywithout the arrangement “changing gear”, i.e. varying the transmissionratio. In this way, the arrangement mimics, at least to some degree, thebehaviour of a conventional geared cycle and so may find favour withsome cyclists more used to such conventional cycles. Where the maximumcurrent and minimum current are the same, this results in thearrangement varying the transmission ratio whenever the torque appliedby the cyclist differs from that corresponding to the current drawn fromthe input electrical machine during the second control mode. Thisarrangement can be used to cause the cyclist to cycle with a torque thatis close to, or coincides with, optimum cycling efficiency.

The method may include supplying all electrical energy generated by theinput electrical machine to the output electrical machine for operatingthe output electrical machine as a motor.

In this way, a conventional pedal cycle fitted with theelectro-mechanical arrangement may be provided with an arrangement forautomatically changing gear.

The method may include supplying stored electrical energy to the outputelectrical machine from a store of electrical energy for operating theoutput electrical machine as a motor. The method may include supplyingstored electrical energy in this way to supplement electrical energygenerated from the input electrical machine and supplied to the outputelectrical machine. The method may include receiving an assist inputindicating that stored electrical energy should be supplied to theoutput electrical machine to supplement electrical energy suppliedthereto and generated by the input electrical machine; and may includesupplying stored electrical energy accordingly in response to receipt ofthe assist input. The method may include operating the control means tosupply stored electrical energy in this way. In this way, storedelectrical energy can be used to assist the cyclist in propelling thecycle.

The assist input may be received from assist input means operable by thecyclist.

The assist input may be indicative of one of a plurality of selectablelevels of assistance that is to be provided to the cyclist. The assistinput may be indicative of a factor by which the power input by thecyclist should be augmented by power supplied to the output electricalmachine by discharging the store of electrical energy. The method mayinclude discharging the store of electrical energy and operating theoutput electrical machine at least partly thereby, in response toreceipt of the assist input.

The method may include operating the input electrical machine and/or theoutput electrical machine as a generator to retard the pedal cycle.Electrical power generated in this way may be used to recharge the storeof electrical energy. The method may include operating one or both ofthe electrical machines inefficiently, for example, by shifting thephase of the current and/or voltage thereof to dissipate generatedelectrical energy as heat and thereby retard the pedal cycle. The methodmay include operating the input electrical machine and/or the outputelectrical machine as a generator in this way in response to a signalfrom a brake input device operable by the cyclist. The brake inputdevice may be a brake lever. The method may include operating the inputand/or output electrical machine in this way in response to sensingbackwards movement of the crank arms; and optionally, backwards movementof the crank arms when the crank arms are between 60 degrees and 120degrees to the vertical when the pedal cycle is on level ground.

The pedal cycle may be, for example, a conventional pedal cycle in whichdrive is only ever provided by a cyclist applying force to the pedalsthereof, such cycles sometimes being referred to as “push bikes”. Thepedal cycle may be, for example, an EAPC, such as, for example, apedelec or an e-bike. The pedal cycle may have one, two, three, four ormore wheels. The pedal cycle may be a bicycle (including solo and tandembicycles), a tricycle, or conceivably any form of cycle which can be atleast partly propelled by a cyclist pedaling.

In some preferred embodiments, the electrical drive arrangement furtherincludes a one-way clutch, which includes a drive member, which isconstituted by the common carrier, and a driven member, which isconnected to rotate with the hub members, the one-way clutch beingarranged to connect the hub member to rotate with the carrier as soon asthe carrier rotates faster than the hub member. Accordingly, the hub mayinclude a one-way clutch which is arranged to connect the hub member torotate with the carrier if the carrier attempts to rotate faster thanthe hub member which in practice occurs as soon as any substantialtorque is applied to the input. This means that if the hub is fitted toa bicycle, as soon as the rider applies any significant pressure to thepedals, thereby applying a torque to the input of the transmissionsystem, the one-way clutch engages and thus connects the carrier to thehub member. This results in the input immediately being connected torotate with the hub member and thus in the propulsive force exerted bythe cyclist immediately being transmitted to the hub member and thus tothe bicycle wheel. This reduces the possibility of the pedal crankinitially rotating with much reduced resistance before engaging fully,which phenomenon is inconvenient and disconcerting for the rider,particularly at launch.

In preferred embodiments, the electrical drive arrangement furtherincludes an active clutch, the method further comprising controlling theactive clutch to selectively operate the electrical machine as agenerator. In this manner, even when the output electrical machine isnot present, regenerative braking can be applied to recharge thebattery.

According to a further aspect of the disclosure, there is provided apedal cycle arranged to carry out a method as defined hereinabove.

It can also be appreciated that aspects of the disclosure can beimplemented using computer program code. Indeed, according to a furtheraspect of the present disclosure, there is therefore provided a computerprogram product comprising computer executable instructions for carryingout the method of the first aspect. The computer program product may bea physical/tangible storage medium. For example, the storage medium maybe a Read Only Memory (ROM) or other memory chip. Alternatively, it maybe a disk such as a Digital Versatile Disk (DVD-ROM) or Compact Disk(CD-ROM) or other data carrier. It could also be a signal such as anelectronic signal over wires, an optical signal or a radio signal suchas to a satellite or the like. The disclosure also extends to aprocessor running the software or code, e.g. a computer configured tocarry out the method described above.

BRIEF DESCRIPTION OF THE DRAWINGS

Specific embodiments will now be described by way of example only andwith reference to the accompanying drawings, in which:

FIG. 1 shows a pedal cycle;

FIG. 2A shows an axial sectional view of the upper half of a bicycle hubaccording to a first embodiment;

FIG. 2B shows a view of a one-way clutch, seen from the right in FIG.2A, above an axial sectional view of the one-way clutch; and

FIG. 3 is schematic representation of control means for controllingoperation of the drive arrangement;

FIG. 4 is a flow diagram of steps of one embodiment of a method ofoperating the pedal cycle, the steps including steps of a “launch”routine and an “in-motion” routine;

FIG. 5 is an example of a graph illustrating the current applied to aninput electrical machine and an output electrical machine during thelaunch routine and in-motion routine;

FIG. 6 shows an axial sectional view of the upper half of a bicycle hubaccording to a second embodiment;

FIG. 7 is schematic representation of control means for controllingoperation of the drive arrangement of the second embodiment; and

FIG. 8 is a flow diagram of steps of the second embodiment of a methodof operating the pedal cycle, the steps including steps of a “launch”routine and an “in-motion” routine.

DETAILED DESCRIPTION

[Structural Arrangement]

FIG. 1 shows an electrically-assisted pedal cycle in the form of abicycle 10. The bicycle 10 is similar to a conventional bicycle inhaving a steerable wheel 20 at the front and a driveable wheel 30 at theback. The bicycle 10 also has the conventional arrangement of pedals 40on crank arms 50 that drive a front toothed cog 60 connected by a chain70 to a rear sprocket 80, the rear sprocket being mounted co-axiallywith the rear wheel 30. However, the bicycle 10 differs from aconventional bicycle in that the rear sprocket 80 is not fixedly mountedto the hub 100 of the rear wheel 30 to drive that wheel directly.Instead, the rear sprocket 80 drives certain components of anelectro-mechanical drive arrangement that are housed within the hub 100.

FIG. 2a shows the hub 100 of a first embodiment and its contents indetail. The hub is mounted on a central shaft 2 which, in use, isfixedly secured to a bicycle frame by means of two nuts 4. The hubincludes an annular input member 6, which is connected to a conventionalbicycle sprocket wheel 80 via a conventional freewheel mechanism 9,which is not shown in detail. The input member 6 is mounted on a numberof bearings 101 to rotate about the shaft 2. The input member 6 is alsoconnected to a single three-branch epicyclic gear set, all threebranches or shafts of which rotate. The transmission system includes asun gear 12, which is mounted to rotate about the shaft 2 and carriesteeth in mesh with teeth carried by a number, typically 3, of planetgears 14. The planet gears 14 are rotatably carried by way of bearings16 by respective planet shafts 18, which are connected to a commoncarrier 201. The teeth on the planet gears 14 are also in mesh with theteeth on an annulus gear 22, which is fixedly connected to theright-hand portion 24 of a hub housing. The right-hand portion 24 of thehub housing is connected to a left-hand portion 26 by means of a centralportion 28, which is connected to the right- and left-hand portions 24,26 by means of bolts 301.

Accommodated within the hub housing are two electric motor/generators(electrical machines), which are arranged coaxially, with onemotor/generator situated within the other. The inner motor/generator, orinput electrical machine 120, includes a rotor 32, which is connected torotate with the sun gear 12, and a stator 34. The outer motor/generator,or output electrical machine 110, includes a rotor 36, which is fixedlyconnected to the central portion 28 of the hub housing, and a stator 38.The electrical connections of the two stators are connected to acontroller 200, which is shown only schematically and is also connectedto a rechargeable electric battery 208. The controller 200 is programmedto control the flow of electrical power between the two motor/generatorsand between the electric battery 208 and each of the twomotor/generators in accordance with requirements.

The common carrier 201 is integral with the input member 6, andconstitutes the input member or drive member of a one-way clutch. It hasa circular outer periphery, which is closely surrounded by the circularinner periphery of an annular driven member 44 of the one-way clutch,the outer periphery of which bears teeth 46, which are also in mesh withthe internal teeth on the annulus gear 22, which is fixedly connected tothe hub housing portion 24. Formed in the outer periphery of the inneror drive member 20 of the one-way clutch is a plurality, in this casethree, of recesses 47 extending in the peripheral direction.Accommodated in each of these recesses is a jamming ball 48 and abiasing spring 50. The dimension or width of each recess 47 in theradial direction is greatest at the end remote from the spring 50 and atthis end it has a value greater than the diameter of the associatedjamming ball 48. However, its width decreases in the direction towardsthe biasing spring 50 to a value less than the diameter of the jammingball 48. The biasing springs urge the balls 48 to the ends of therecesses 47 remote from the springs 50 at which the width of the recessis greater than the diameter of the balls and when the balls are in thisposition the drive and driven members 20 and 44 of the one-way clutchare freely rotatable with respect to one another and the clutch is thusdisengaged. However, if the inner or drive member of the clutch shouldmove in the clockwise direction as seen in FIG. 2b , that is to say ifthe user of the bicycle should exert a force on the pedals, which istransmitted by the bicycle chain to the sprocket 8 and then to the drivemember 201 in the form of a torque tending to rotate the drive member201, the balls 48 are caused to move in the anticlockwise direction,seen in FIG. 2b , and thus towards the region in which the width of therecesses is less than the diameter of the balls. As the balls approachthis region, they become jammed between the bases of the recesses 47 andthe inner periphery of the outer or driven clutch member 44 and thus actto rotationally connect the two clutch members 20 and 44. Continuedrotation of the input member 6 and thus of the clutch member 20 istherefore transmitted directly to the driven clutch member 44 and thusalso to the annulus gear 22 and to the hub housing 24, 26, 28, therebyresulting in rotation of the bicycle wheel. If the user shouldsubsequently cease to exert a pressure on the pedals, the force exertedby the biasing springs 50 will be able to return the balls 48 into theregions of the recesses 47 where their width is greater than thediameter of the balls and the rotary connection of the two clutchmembers is therefore released.

In use, one of the motor/generators generally acts as a generator andtransmits electrical power to the other motor/generator, which acts as amotor. The amount of electrical power so transmitted may be selectivelyvaried by means of the controller 40, thereby altering the transmissionratio of the transmission system. Power is transmitted through thetransmission system both mechanically and electrically in proportionswhich vary with the varying transmission ratio. The output speed of thetransmission system and thus the speed of the hub member may thus bevaried independently of the input speed, which means that the speed ofthe wheel connected to the hub member in accordance with the inventionmay be varied independently of the speed at which the pedals are rotatedand/or the speed of that one of the motor/generators which is operatingas a motor and is providing a motive torque to propel the bicycle or toassist the user in propelling the bicycle. This means that thetransmission may be operated precisely at the speed which is the mostappropriate for the driving conditions and matches the wishes of theuser, as indicated by one or more user-operable controls.

The electric motor/generators are thus not only the means by which thetransmission ratio of the transmission system may be continuously variedbut also the means by which electrical power from the battery may beconverted into mechanical power and transmitted to the bicycle wheel.The motor/generators preferably also serve a dual function in that ifthe bicycle is travelling at a speed in excess of that desired by theuser, for instance because the bicycle is freewheeling downhill, asindicated e.g. by the user applying the brakes, the controller can beprogrammed to cause one or both motor/generators to operate as agenerator and to direct the electrical power produced to the electricbattery so as to recharge it.

Whilst one or both of the electric motor/generators may be used in motormode to drive the bicycle for a major proportion of the time, it isenvisaged that the hub in accordance with the invention will be usedprimarily on a motor-assisted bicycle rather than a motorcycle and thusthat the user will contribute to the motive power needed to propel thebicycle for a major proportion of the operating time. As explainedabove, when the user applies a driving force to the pedals, the one-wayclutch will immediately engage and the force applied by the user willthen be directed immediately to the driven bicycle wheel with no pedalprecession.

Further details of controller 200 can be understood with reference toFIG. 3. In particular, the control means is connected and arranged tocontrol the input and output motor-generators 110, 120 in response toinputs received from input means. The controller 200 is in the form ofan electronic control unit (ECU) 205, a battery management unit 207 andtwo motor-generator controllers: one of which will be termed the “inputcontroller” 210 and is for controlling the input motor-generator 120,and the other one of which will be termed the “output controller” 220and is for controlling the output motor-generator 110. The ECU 205includes a microprocessor that is programmable and operable to carry outthe steps of a method that embodies this invention. That method will bedescribed herein below with reference to FIG. 3 and FIG. 5. The ECU 205is connected to the input controller 210, the output controller 220 andthe battery management unit 207 for controlling operation of those threeunits.

The input means that provide inputs to the controller 40 includes userinput means 250 and a crank speed and position sensor 260, which may bea hall sensor. The user input means 250 includes, in this embodiment, auser-operable power input device and a user-operable brake input device(none of which is shown). The power input device is arranged to beoperated by a user to indicate generally the power that is the rate ofworking, with which he or she wishes to pedal. The brake input device isarranged to be operated by the user to indicate a rate at which thebicycle 10 should be slowed.

In this embodiment, it is envisaged that the power input device is auser-operable selector that indexes between each of a plurality ofdifferent positions. Examples of such selector switches are twistablegrip-shifts and thumb shifters commonly used in gear-change mechanismsof conventional bicycles. It is envisaged that the brake input devicemay be similar to a conventional brake lever. However, in the presentembodiment, it is envisaged that electrical versions of such selectorswitches and of the brake lever be used such that each is able toproduce an electrical signal indicative of its user-selected position.The crank speed and position sensor 260 is a conventional device that isarranged to sense the speed and angular position of the crank arms 50and to output an electrical signal indicative of this. Each of the inputmeans is connected and arranged to provide its respective electricalsignal to the ECU 205.

A further output from the control means 200 is connected to aninstrument panel 270.

The battery management unit 207 is connected to electrical energystorage means in the form of a rechargeable battery 208.

With reference again to FIG. 1, the ECU 205, the input controller 210,the output controller 220 and the battery management unit are housedwithin a control housing 90 fitted to the frame of the bicycle 10. Thebattery 208 is housed within a battery housing 92 that is also fitted tothe frame.

[Operation]

Operation of the bicycle 10 will now be described. This description willtake the form of a description of the steps of a method carried out bythe ECU 205 in executing instructions contained in a computer programwith which it is programmed.

With reference to FIG. 4, the method begins from a stationary start atstep 300 in which the crank speed and position sensor 260 is used tosense movement of the pedals 40. If no movement of the pedals isidentified then the method continues to monitor for further events.

If movement of the pedals is identified, the method moves to step 310,wherein the torque applied to pedals 40 is sensed using the inputelectrical machine 120. The input electrical machine is operatedthroughout the method according to a time division multiplexed controlalgorithm to the input electrical machine. The time division multiplexedcontrol algorithm alternates between a first control mode in whichcurrent generated by the input electrical machine 120 is monitored toinfer torque applied to the crank arms of the cycle and a second controlmode in which the current in the input electrical machine 120 iscontrolled in dependence on the inferred torque. At step 310, the torqueis sensed during the first control mode.

At step 320, the controller 200 determines if the torque sensed at step310 exceeds an initiation threshold. If the torque sensed at step 310exceeds the initiation threshold, a launch routine 330 is initiated.

During launch routine 330, electrical power is provided to outputelectrical machine in order to assist in bringing the bicycle up tospeed at step 331. The input electrical machine 340 is also initiated atstep 331 in response to the detection of torque exceeding the initiationthreshold, such that a fixed current is imparted to the input electricalmachine 120 during launch routine 330. The power demands of the outputelectrical machine are prioritised during launch routine 330.

By using the torque sensed during the first control mode to controlentry into the launch routine 330, accidental initiation of the outputelectrical machine can be prevented.

During the launch routine, the current in the input machine ismaintained at a minimal level. This effective short-circuit quicklybuilds up a reaction torque in the input motor-generator 120 againstrotation thereof (this build up happens within about 5 to 10 degrees ofcrank angle). This reaction is transmitted through the epicyclic gearset 140 to the crank arms 50 and pedals 40 and so gives the cyclistsomething to push against in setting off on the cycle. Furthermore, theone-way clutch ensures the cyclist receives feedback to the effortprovided at this stage.

At step 332 of the launch routine 330, the movement of the pedals isagain sensed by the sensor 260. The cadence (i.e. the rate ofrevolution) of the crank arms 50 is determined from the signal sensedthereby, and if this remains below an in-motion threshold the launchroutine continues. The in-motion threshold may be, for example, onerevolution per second. Once the cadence meets or exceeds the threshold,the method moves to in motion routine 340. In a preferred embodiment,the in-motion threshold may be one revolution per second.

During the in-motion routine 340 the torque is sensed using the inputelectrical machine 120 at step 341. As referenced above, this occursduring the first control mode of the time division multiplexed controlalgorithm. The sensed torque is then used to set the current in theinput electrical machine 120 during the second control mode at step 342.In particular, the current within the second electrical machine duringthe second control mode is set to provide a torque output of the inputelectrical machine 120 which corresponds to the torque sensed during thefirst control mode.

It should be understood that, by controlling the current in the inputmotor-generator 120 in this way, the torque on that machine, which isproportional to current, is also controlled. As the inputmotor-generator 120 is coupled to the crank arms 50 by the epicyclicgear set, controlling the torque in the input motor-generator 120 alsocontrols the torque in the crank arms 50 (the two torques areproportional), which is the torque that the cyclist applies to the crankarms 50 through the pedals 40 when the system is in a steady state.Thus, controlling the current in the input motor-generator 120determines the force which the cyclist must apply to the pedals 40 tomaintain a steady state. Accordingly, in step 342 the current drawn fromthe input motor-generator 120 so as to cause the pedals 40 to reactagainst the cyclist with a force that gives rise to the cyclist pedalingwith the power which the cyclist has indicated she or he wishes to pedalby the position of the power input device.

Controlling the current in this way results in the bicycle 10automatically changing the transmission ratio between the crank arms 50and the rear wheel. For example, should the cyclist press on the pedals40 with more force such that he or she applies torque that exceeds thetorque corresponding to the current drawn from the input motor-generator120 for the determined crank position, the motor-generator “gives way”and so accelerates. This changes the transmission ratio of the epicyclicgear set 140 to change to a lower ratio. Thus, when the torque that thecyclist applies exceeds a certain limit, the arrangement automaticallychanges to a lower ratio. Thus, the arrangement automatically changesdown in conditions when this is needed, such as when climbing a hill oraccelerating rapidly.

Similarly, should the cyclist press the pedals 40 with less force andhence apply less torque than the torque that corresponds to thedetermined current that is to be drawn from the input motor-generator120, the motor-generator 120 decelerates and resists motion of the crankarms 50 by the cyclist. This deceleration of the input motor-generator120 again changes the transmission ratio of the epicyclic gear set to ahigher ratio. Thus, when the torque that the cyclist applies falls belowa certain limit, the arrangement automatically changes to a higherratio. Thus, the arrangement automatically changes up in conditions whenthis is needed, such as when going downhill or when easing off andapproaching a steady speed from a period of acceleration.

By providing the cyclist with several user-selectable settings of thepower input device, the cyclist can select generally the power withwhich he or she wishes to cycle. Additionally, he or she may change thatpower whilst cycling so that he or she can cycle generally harder ormore easily.

The in-motion routine continues while the bicycle is in motion. This isassessed at step 343, at which a judgement is made as to whether thebicycle is moving. This is done by the ECU 205 sensing the speed of theoutput motor-generator 110, the speed of the output motor-generator 110being proportional to the speed of the bicycle 10. The ECU 205 sensesthe speed of the output motor-generator 110 by receiving a signalindicative of this from motor commutation sensors (although, in otherembodiments, the voltage or the frequency of voltage peaks may insteadby measured)

If the bicycle is moving, the launch routine continues and the controlalgorithm alternates between the first and second control modes. Thatis, in a time divided manner the torque is assessed (step s341; thefirst control mode) from the input electrical machine and then thecurrent in the input electrical machine is controlled in consequence(step s342; the second control mode). Once the bicycle is detected to bestationary, the output electrical machine is deactivated and the methodreturns to the start, ready for initiation of the launch routine 330 ata later time.

During the in motion routine, current from the battery is prioritised tothe input electrical machine 120 rather than the output electricalmachine. This ensures the torque applied by the user and measured duringthe first control mode is effectively balanced during the second controlmode so that the gearing of the system is managed appropriately and theuser does not experience unwanted variation in the feedback from thepedals 40. This process can be understood with reference to FIG. 5.

In FIG. 5 the horizontal axis represents time. The vertical axis showscurrent, which is divided between the current applied to the outputelectrical machine (IE1) and the input electrical machine (IE2). In thislatter respect, FIG. 5 illustrates the level of current in the inputelectrical machine during the second control mode.

In the example of FIG. 5, there is a maximum current, Imax that can besupplied by the battery of 29 A. The output electrical machine has amaximum current, IE1max, of 22 A and the input electrical machine has amaximum current, IE2max, of 17 A. Thus it is not possible for both theinput and output electrical machines to be driven at maximum currentsimultaneously since IE1max+IE2max>Imax. Instead, at all timesIE1+1E2<=Imax (i.e. 29 A). There can therefore arise a need toprioritise between the current provided to each electrical machine.

During the in-motion routine, the input electrical machine 120 takespriority for receiving current from battery. The in-motion routine isillustrated in FIG. 5 between times Vl1 and Vl2. As can be seen, in thisembodiment, the total current applied to the input electrical machine120 and the output electrical machine 110 during the in-motion routineis constant (in particular, is fixed at Imax). Of that total, the inputelectrical machine receives current determined on the basis of thesensed torque, while the output electrical machine receives theremaining available current. In this manner, the current for the inputelectrical machine 120 is prioritised.

The launch routine is illustrated in the time period prior to Vl1. Here,current for the output electrical machine is prioritised 110, and theinput electrical machine 120 only receives a fixed, relatively smallcurrent.

Second Embodiment

A second embodiment is now described with reference to FIG. 6 onwards.Like reference numerals refer to like features in comparison with theembodiment described with reference to FIGS. 1 to 5.

In the second embodiment, no output electrical machine is provided.Instead, the input electrical machine 120 provides all electricalcontrol to the system. FIG. 6 illustrates the hub 100 in the alternativeembodiment in detail.

The features illustrated in FIG. 1 are shared by the first and secondembodiments. As for the first embodiment of FIG. 2A, in the secondembodiment the hub 100 is mounted on a central shaft 2 which, in use, isfixedly secured to a bicycle frame by means of two nuts 4. The hubincludes an annular input member 6, which is connected to a conventionalbicycle sprocket wheel 80 via a conventional freewheel mechanism 9,which is not shown in detail. The input member 6 is mounted to rotateabout the shaft 2 by a number of bearings 101. The input member 6 isalso connected to a single three-branch epicyclic gear set, all threebranches or shafts of which rotate. The transmission system includes asun gear 12, which is mounted to rotate about the shaft 2 and carriesteeth in mesh with teeth carried by a number, typically 3, of planetgears 14. The planet gears 14 are rotatably carried by way of bearings16 by respective planet shafts 18, which are connected to a commoncarrier 201, which may be formed integrally with the input member 6. Theteeth on the planet gears 14 are also in mesh with the teeth on anannulus gear 22, which is fixedly connected to the right-hand portion 24of a hub housing. The right-hand portion 24 of the hub housing isconnected to a left-hand portion 26 by means of a central portion 28.The central portion 28 may be formed integrally with either theright-hand portion 24 or the left-hand portion 26 and coupled to theother of the right-hand portion 24 and left-hand portion with bolts orsimilar 26. Alternatively, the central portion 28 may be individuallyformed and is connected to the right- and left-hand portions 24, 26 bymeans of bolts 301 or similar features.

Accommodated within the hub housing of the second embodiment is a singlemotor/generator (electrical machine). The motor/generator, or inputelectrical machine 120, includes a rotor 32 which is connected to rotatewith the sun gear 12, and a stator 34. The electrical connections of thestators 34 are connected to a controller 200, which is shown onlyschematically and is also connected to a rechargeable electric battery208. The controller 200 is programmed to control the flow of electricalpower between the electric battery 208 and the motor/generators inaccordance with requirements.

The controller 200 of the second embodiment is illustrated in FIG. 7 andmay be arranged in a similar manner to that illustrated in FIG. 3. Inparticular, the controller 200 may be connected and arranged to controlthe input motor-generators 120 in response to inputs received from inputmeans. The controller 200 is in the form of an electronic control unit(ECU) 205, a motor-generator controller 220 for controlling the inputmotor-generator 120. A battery management unit 207 may also be providedwith the battery 208. The ECU 205 includes a microprocessor that isprogrammable and operable to carry out the steps of a method thatembodies this invention. The ECU 205 is connected to the inputcontroller 220 and the battery management unit 207 for controllingoperation of these units. The motor-generator controller may be a groupof MOS and capacitors controlled by the ECU 205 to establish a run-timescheduled bridge.

With reference again to FIG. 1, the ECU 205 and the input controller 220are housed within a control housing 90 fitted to the frame of thebicycle 10. The battery management unit 207 and the battery 208 arehoused within a battery housing 92 that is also fitted to the frame.

The input means that provide inputs to the controller 200 may includeuser input means 250 and a crank speed and position sensor 260, whichmay be a number of hall sensors. The user input means 250 includes, inthis embodiment, a user-operable power input device and may additionallyinclude a user-operable brake input device (none of which is shown). Thepower input device is arranged to be operated by a user to indicategenerally the power, that is the rate of working, with which he or shewishes to pedal. The brake input device is arranged to be operated bythe user to indicate a rate at which the bicycle 10 should be slowed.

An output speed sensor 265, which may be a hall sensor, may be providedto measure the speed at which the bike is moving. The output speedsensor 265 may monitor the front or rear wheel, for example. The outputspeed sensor 265 provides this information to the controller 200. Asillustrated in FIG. 6, the sensor 265 may be embedded in the hub itself.It acts as a high precision sensing system to measure the speed of therear wheel in this embodiment.

Further features of the controller described above with respect to FIG.3 may also apply to the controller of the second embodiment.

Although a one way clutch as described with reference to FIG. 2B abovemay be provided for operation with the second embodiment, in preferredexamples an active clutch is additionally or alternatively provided. Theactive clutch will operate to place the electrical machine into agenerator mode at appropriate times, such as when the user desires tobrake. The active clutch may be operated by the controller 200, whichmay respond to information including the speed of the wheels as sensedby sensor 265.

For example, assuming sensor 265 identified that the bike is moving,when the user does not apply pressure to the pedals, the one-way clutchdescribed above or a component of the active clutch may be used todisengage the pedals from the common carrier 201. In addition, in thesecircumstances the active clutch may act to block movement of the inputmember 6 around the main shaft 2. As a result, torque is transferredfrom the annulus gear 22 to the sun gear 12 and thus applied toelectrical machine 110, which consequently acts as a generator. Thisapproach may also be applied when it is sensed that the user applies thebrakes.

[Operation of the Second Embodiment]

Operation of the bicycle 10 will now be described with reference to FIG.8. This description will take the form of a description of the steps ofa method carried out by the ECU 205 in executing instructions containedin a computer program with which it is programmed.

With reference to FIG. 8, the method begins from a stationary start atstep 800 in which the crank speed and position sensor 260 is used tosense movement of the pedals 40. If no movement of the pedals isidentified then the method continues to monitor for further events.

If movement of the pedals is identified, the method moves to step 810,wherein the torque applied to pedals 40 is sensed using the inputelectrical machine 120. The input electrical machine is operatedthroughout the method according to a time division multiplexed controlalgorithm to the input electrical machine. The time division multiplexedcontrol algorithm alternates between a first control mode in whichcurrent generated by the input electrical machine 120 is monitored toinfer torque applied to the crank arms of the cycle and a second controlmode in which the current in the input electrical machine 120 iscontrolled in dependence on the inferred torque. At step 810, the torqueis sensed during the first control mode.

At step 820, the controller 200 determines if the torque sensed at step810 exceeds an initiation threshold. If the torque sensed at step 810exceeds the initiation threshold, a launch routine 830 is initiated.

During launch routine 830, the input electrical machine 120 is initiatedat step 831 in response to the detection of torque exceeding theinitiation threshold, such that a fixed current is imparted to the inputelectrical machine 120 during launch routine 830. By using the torquesensed during the first control mode to control entry into the launchroutine 830, accidental initiation can be prevented.

During the launch routine, the current in the input machine ismaintained at a minimal level. This effective short-circuit quicklybuilds up a reaction torque in the input motor-generator 120 againstrotation thereof (this build up happens within about 5 to 10 degrees ofcrank angle). This reaction is transmitted through the epicyclic gearset 140 to the crank arms 50 and pedals 40 and so gives the cyclistsomething to push against in setting off on the cycle. Furthermore, theone-way clutch ensures the cyclist receives feedback to the effortprovided at this stage.

At step 832 of the launch routine 830, the movement of the pedals isagain sensed by the sensor 260. The cadence (i.e. the rate ofrevolution) of the crank arms 50 is determined from the signal sensedthereby, and if this remains below an in-motion threshold the launchroutine continues. The in-motion threshold may be, for example, onerevolution per second. Once the cadence meets or exceeds the threshold,the method moves to in motion routine 840. In a preferred embodiment,the in-motion threshold may be one revolution per second.

During the in-motion routine 840 the torque is sensed using the inputelectrical machine 120 at step 841. As referenced above, this occursduring the first control mode of the time division multiplexed controlalgorithm. The sensed torque is then used to set the current in theinput electrical machine 120 during the second control mode at step 842.In particular, the current within the input electrical machine 120during the second control mode is set to provide a torque output of theinput electrical machine 120 which corresponds to the torque sensedduring the first control mode.

It should be understood that, by controlling the current in the inputmotor-generator 120 in this way, the torque on that machine, which isproportional to current, is also controlled. As the inputmotor-generator 120 is coupled to the crank arms 50 by the epicyclicgear set, controlling the torque in the input motor-generator 120 alsocontrols the torque in the crank arms 50 (the two torques areproportional), which is the torque that the cyclist applies to the crankarms 50 through the pedals 40. Thus, controlling the current in theinput motor-generator 120 determines the force which the cyclist mustapply to the pedals 40 to maintain a steady state.

Controlling the current in this way results in the bicycle 10automatically changing the transmission ratio between the crank arms 50and the rear wheel. For example, should the cyclist press on the pedals40 with more force such that he or she applies torque that exceeds thetorque corresponding to the current drawn from the input motor-generator120 for the determined crank position, the motor-generator “gives way”and so accelerates. This effect can be used in some embodiments tochange the transmission ratio of the epicyclic gear set 140 to change toa lower ratio. Thus, when the torque that the cyclist applies exceeds acertain limit, the arrangement automatically changes to a lower ratio.Thus, the arrangement automatically changes down in conditions when thisis needed, such as when climbing a hill or accelerating rapidly.

Similarly, should the cyclist press the pedals 40 with less force andhence apply less torque than the torque that corresponds to thedetermined current that is to be drawn from the input motor-generator120, the motor-generator 120 decelerates and resists motion of the crankarms 50 by the cyclist. This deceleration of the input motor-generator120 can again be used to change the transmission ratio of the epicyclicgear set to a higher ratio. Thus, when the torque that the cyclistapplies falls below a certain limit, the arrangement automaticallychanges to a higher ratio. Thus, the arrangement automatically changesup in conditions when this is needed, such as when going downhill orwhen easing off and approaching a steady speed from a period ofacceleration.

By providing the cyclist with several user-selectable settings of thepower input device, the cyclist can select generally the power withwhich he or she wishes to cycle. Additionally, he or she may change thatpower whilst cycling so that he or she can cycle generally harder ormore easily.

The in-motion routine continues while the bicycle is in motion. This isassessed at step 843, at which a judgement is made as to whether thebicycle is moving. This is done by the ECU 205 sensing the speed asmeasured by the output speed sensor 265.

If the bicycle is moving, the in-motion routine continues and thecontrol algorithm alternates between the first and second control modes.That is, in a time divided manner the torque is assessed (step s841; thefirst control mode) from the input electrical machine and then thecurrent in the input electrical machine is controlled in consequence(step s842; the second control mode). Once the bicycle is detected to bestationary, the electrical machine is deactivated and the method returnsto the start, ready for initiation of the launch routine 830 at a latertime.

This disclosure in some aspects provides a method of operating a pedalcycle, the pedal cycle having an electro-mechanical drive arrangementincluding a continuously variable ratio transmission system having aninput which is mounted to rotate about the axis and an output connectedto rotate with a hub member, the transmission system comprising anepicyclic gear set including a sun gear in mesh with a plurality ofplanet gears mounted to rotate about respective planet shafts carried bya common carrier, which is mounted to rotate with the input about theaxis, the planet gears being in mesh with an annulus gear, which isconnected to rotate with the hub member, the annulus gear beingconnected to rotate with a rotor of an output electrical machine or notbeing connected to rotate with the rotor of the output electricalmachine and the sun gear being connected to rotate a rotor of an inputelectrical machine, the electrical connections of the stators of the oneor two electrical machines being connected by a controller which may bearranged to control the transmission of power from one electricalmachine to the other; the method including the steps of:

a) operating the input electrical machine as a generator to at leastpartly power the output electrical machine as a motor in cases where anoutput electrical machine is provided;

b) applying a time division multiplexed control algorithm to the inputelectrical machine, wherein the time division multiplexed controlalgorithm alternates between a first control mode in which currentgenerated by the electrical input machine is monitored to infer torqueapplied to the crank arms of the cycle and a second control mode inwhich the current in the input electrical machine is controlled usingthe inferred torque.

Variations and modifications will be apparent to the skilled person.Such variations and modifications may involve equivalent and otherfeatures which are already known and which may be used instead of, or inaddition to, features described herein. Features that are described inthe context of separate embodiments may be provided in combination in asingle embodiment. Conversely, features which are described in thecontext of a single embodiment may also be provided separately or in anysuitable sub-combination.

It should be noted that the term “comprising” does not exclude otherelements or steps, the term “a” or “an” does not exclude a plurality, asingle feature may fulfil the functions of several features recited inthe claims and reference signs in the claims shall not be construed aslimiting the scope of the claims. It should also be noted that theFigures are not necessarily to scale; emphasis instead generally beingplaced upon illustrating the principles of the present invention.

The invention claimed is:
 1. A method of operating a pedal cycle, thepedal cycle having crank arms and an electro-mechanical drivearrangement including a continuously variable ratio transmission systemhaving an input which is mounted to rotate about an axis and an outputconnected to rotate with a hub member, the transmission systemcomprising an epicyclic gear set including a sun gear in mesh with aplurality of planet gears mounted to rotate about respective planetshafts carried by a common carrier, which is mounted to rotate with theinput about the axis, the planet gears being in mesh with an annulusgear, which is connected to rotate with the hub member, the annulus gearbeing connected to rotate with a rotor of an output electrical machineand the sun gear being connected to rotate a rotor of an inputelectrical machine, an electrical connection of a stator of the outputelectrical machine and an electrical connection of a stator of the inputelectrical machine being connected by a controller arranged to controlthe transmission of power from one electrical machine to the other; themethod including the steps of: a) operating the input electrical machineas a generator to at least partly power the output electrical machine asa motor; b) applying a time division multiplexed control algorithm tothe input electrical machine, wherein the time division multiplexedcontrol algorithm alternates between a first control mode in which acurrent generated by the electrical input machine is monitored to infertorque applied to the crank arms of the cycle and a second control modein which the current in the input electrical machine is controlled usingthe inferred torque.
 2. The method of claim 1, further comprisinginitiating operation of the output electrical machine as a motor whenthe inferred torque exceeds a threshold value.
 3. The method of claim 1,wherein the control of the current applied to the input electricalmachine in response to the inferred torque during the second controlmode is dependent upon whether the pedal cycle is in a launch routine oran in-motion routine.
 4. The method of claim 3, wherein the inputelectrical machine and the output electrical machine are coupled to anelectrical power source, and wherein during the launch routine theoutput electrical machine takes priority over the input electricalmachine for receiving current from the electrical power source duringthe second control mode.
 5. The method of claim 3, wherein the inputelectrical machine and the output electrical machine are coupled to anelectrical power source, and wherein during the in motion routine theinput electrical machine takes priority over the output electricalmachine for receiving current from the electrical power source duringthe second control mode.
 6. The method of claim 1, wherein the currentin the input electrical machine during the second control mode iscalculated to match the inferred torque identified during the firstcontrol mode.
 7. The method of claim 6, wherein the current in the inputelectrical machine during the second control mode is controlled to liein a range between a maximum current and a minimum current, the maximumand minimum currents being calculated using the inferred torque.
 8. Themethod of claim 1, further comprising supplying substantially allelectrical energy generated by one of the input and output electricalmachine to the other of the input and output electrical machine tooperate that other electrical machine as a motor.
 9. The method of claim1, further comprising determining that the pedal cycle or the crank armsare substantially stationary and, in response thereto, substantiallyshort-circuiting the input electrical machine.
 10. The method of claim9, further comprising maintaining the substantial short-circuiting ofthe input electrical machine until the current in the input electricalmachine reaches the maximum current.
 11. The method of claim 1, whereina one-way clutch, which includes a drive member, which is constituted bythe common carrier, and a driven member, which is connected to rotatewith the hub members, the one-way clutch being arranged to connect thehub member to rotate with the common carrier as soon as the commoncarrier rotates faster than the hub member.
 12. The method of claim 1,wherein a one-way clutch is adapted to connect the hub member to rotatewith the common carrier.
 13. A pedal cycle having crank arms and anelectro-mechanical drive arrangement including a continuously variableratio transmission system comprising: an input which is mounted torotate about an axis; an output connected to rotate with a hub member;an epicyclic gear set including a sun gear in mesh with a plurality ofplanet gears mounted to rotate about respective planet shafts carried bya common carrier, which is mounted to rotate with the input about theaxis, the planet gears being in mesh with an annulus gear, which isconnected to rotate with the hub member; the annulus gear beingconnected to rotate with a rotor of an output electrical machine and thesun gear being connected to rotate a rotor of an input electricalmachine, the electrical connection of a stator of the output electricalmachine and the connection of a stator of the input electrical machinebeing connected by a controller arranged to control the transmission ofpower from one electrical machine to the other by: a) operating theinput electrical machine as a generator to at least partly power theoutput electrical machine as a motor; b) applying a time divisionmultiplexed control algorithm to the input electrical machine, whereinthe time division multiplexed control algorithm alternates between afirst control mode in which a current generated by the electrical inputmachine is monitored to infer torque applied to the crank arms of thepedal cycle and a second control mode in which the current in the inputelectrical machine is controlled using the inferred torque.
 14. Thepedal cycle of claim 13, wherein the controller initiates operation ofthe output electrical machine as a motor when the inferred torqueexceeds a threshold value.
 15. The pedal cycle of claim 13, wherein thecontroller controls the current applied to the input electrical machinein response to the inferred torque during the second control modedependent upon whether the pedal cycle is in a launch routine or anin-motion routine.
 16. The pedal cycle of claim 15, wherein the inputelectrical machine and the output electrical machine are coupled to anelectrical power source, and wherein during the launch routine theoutput electrical machine takes priority over the input electricalmachine for receiving a current from the electrical power source duringthe second control mode.
 17. The pedal cycle of claim 15, wherein theinput electrical machine and the output electrical machine are coupledto an electrical power source, and wherein during the in motion routinethe input electrical machine takes priority over the output electricalmachine for receiving a current from the electrical power source duringthe second control mode.
 18. The pedal cycle of claim 13, wherein thecontroller calculates a current in the input electrical machine duringthe second control mode to match the inferred torque identified duringthe first control mode.
 19. The pedal cycle of claim 18, wherein thecontroller controls the current in the input electrical machine duringthe second control mode is to lie in a range between a maximum currentand a minimum current, the maximum and minimum currents being calculatedusing the inferred torque.
 20. The pedal cycle of claim 13, wherein thecontroller applies control so that substantially all electrical energygenerated by one of the input and output electrical machine is suppliedto the other of the input and output electrical machine to operate thatother electrical machine as a motor.
 21. The pedal cycle of claim 13,wherein the controller carries out the step of determining that thepedal cycle or the crank arms are substantially stationary and, inresponse thereto, substantially short-circuits the input electricalmachine.
 22. The pedal cycle of claim 21, wherein the controller carriesout the step of maintaining the substantial short-circuiting of theinput electrical machine until the actual current in the inputelectrical machine reaches the maximum current.
 23. The pedal cycle ofclaim 13, further including a one-way clutch, which includes a drivemember, which is constituted by the common carrier, and a driven member,which is connected to rotate with the hub members, the one-way clutchbeing arranged to connect the hub member to rotate with the commoncarrier as soon as the common carrier rotates faster than the hubmember.
 24. The pedal cycle of claim 13, further comprising a one-wayclutch adapted to connect the hub member to rotate with the commoncarrier.